RU1840919C - Apparatus for target location in aircraft coordinate system - Google Patents

Abstract

FIELD: radio engineering, communication.

SUBSTANCE: apparatus comprises a radar set, a true bearing former, a coordinate converter, a long-range reconnaissance and accurate bearing station, an amplitude analyser, a complex navigation-piloting astro-inertial system, an azimuth computer, a memory unit, an interpolation unit and an astro-landmark bearing mode optimising unit, connected to each other in a certain manner.

EFFECT: high accuracy of locating a target.

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Description

The present invention relates to the field of military electronic equipment and can be used in marine reconnaissance and target designation (TsU) systems based on the use of remote observation posts (GNPs) located on aircraft (LA) and equipped with integrated navigation and reconnaissance equipment.

To increase the range of target detection and intelligence information in modern systems of reconnaissance, surface lighting and control systems, mobile GNPs are raised high above the Earth, the reconnaissance equipment of which allows you to determine the polar coordinates of targets relative to GNP.

Known devices for lighting the surface of the environment and the issuance of target designation, determining the location of the target in the rectangular coordinates of the aircraft, and then recounting them in a rectangular coordinate system of the receiving point (PP). These devices at the same time carry out the mutual reference of coordinate systems, carry out joint work within the radio horizon of finding the target of GNP and PP. A feature of the known devices is the simultaneous joint operation of one or two GNPs with one PC. In order to use the obtained reconnaissance information, the targets located on the GNP are located in the absolute geographical coordinate system while receiving reconnaissance information by several targets from one GNP while reconnaissance information by several targets from one GNP is carried out in the absolute geographical coordinate system (G.S .TO.).

A device is known for determining the geographic coordinates of a target in an aircraft (Scientific and Technical Collection "Issues of Special Radioelectronics". A series of radar equipment. Issue 12, 1967, p. 3. "Coordinate system for navigation and sighting system"), which includes a polar coordinate meter targets (airborne radar station - radar), differential-range navigation system, true bearing shaper and coordinate converter. The specified device implements a geographical and private orthodromic coordinate system.

The location (MP) of the target in G.S.K. carried out by solving equations

$${\varphi }_c^{\text{'}\text{'}}={\varphi }_c-8\text{'}\text{'}39\text{'}\text{'}\text{'}\text{'}\sin 2{\varphi }_c\left(\mathrm{but}\right)$$

$${\lambda }_c^{\text{'}\text{'}}={\lambda }_c\left(b\right)$$

$${\varphi }_c^{\text{'}\text{'}}=arc\sin (\cos {\varphi }_{l\mathrm{but}}^{\text{'}\text{'}}\cdot \cos P_c\cdot \sin \frac{D_c}{R_3}+\sin {\varphi }_{l\mathrm{but}}^{\text{'}\text{'}}\cdot \cos \frac{D_c}{R_3})\left(\mathrm{at}\right)$$

$${\lambda }_c^{\text{'}\text{'}}={\lambda }_{l\mathrm{but}}^{\text{'}\text{'}}+\arcsin \frac{\sin \frac{D_c}{R_3}\cdot \sin P_c}{\cos {\varphi }_c^{\text{'}\text{'}}}\left(g\right)$$

и $${\lambda }_{ц}^{\text{'}}$$

- географические и сферические координаты цели;where φ _c and λ _c ; $${\varphi }_c^{\text{'}\text{'}}$$

and $${\lambda }_c^{\text{'}\text{'}}$$

- geographical and spherical coordinates of the target;

и $${\lambda }_{ла}^{\text{'}}$$

- сферические координаты ЛА, определяемые системой навигации; $${\varphi }_{l\mathrm{but}}^{\text{'}\text{'}}$$

and $${\lambda }_{l\mathrm{but}}^{\text{'}\text{'}}$$

- spherical coordinates of the aircraft, determined by the navigation system;

P _c and D _c - true bearing and range to the target;

R _З - radius of the Earth.

When solving this problem in the polar regions G.S.K. the phenomenon of "latitudinal limitation." The prototype carries out the measurement of the polar coordinates of the target in an active way. As a result, the disadvantages of the prototype are:

- the different value of the linear error by the definitions of the target's MP, increasing in the polar regions of G.S.K. with an increase in the geographical width of the GNP, in comparison with the linear error accepted in advance;

- insufficient stealth in determining the coordinates of the target, which is associated with the operation of only the onboard radar. "Latitudinal limitation" is manifested in the formation of two zones of angles of direction finding of targets with low and high accuracy MO target. The deficiencies noted above reduce the probability of hitting a target, and therefore the task in the polar regions is solved in relative coordinate systems, which requires their mutual reference.

The aim of the present invention is to remedy these disadvantages, which consists in increasing the accuracy of the covert determination of the geographic coordinates of the target in the polar regions, providing the solution to the problem of accurate control without binding coordinate systems of aircraft and PP.

This goal is achieved by the fact that the composition of the known device, including an airborne radar, a true direction finder and a coordinate converter, includes a long-range reconnaissance and accurate direction finding radar station ship radar surface targets, a signal amplitude analyzer, a memory device, an interpolation device, a complex navigation and flight control astroinertial system, azimuth calculator, device for optimizing the direction finding mode of astronomical points. Introduction to the proposed invention of the above devices provides preliminary MO LA and its guidance, storing the values of normalized accuracy characteristics, analysis of the expected accuracy of solving the MO target problem, determining the optimal azimuths of astronomical targets, finding them, outputting the aircraft to the line of the airborne radar operation line, which reduces error the secretive determination of the target’s MP in comparison with the error of the MO LA.

In this case, the passive reconnaissance station, together with the signal amplitude analyzer, ensures the secrecy of the operation of the aircraft’s equipment until the onboard radar is turned on by trans-horizontal reception of radiation and determining the direction of the surface target emitting the radar.

A comprehensive navigation and flight control astroinertia system together with an azimuth calculator, devices for optimizing the direction finding mode of astronomical points, memory and interpolation provide optimization of the error ratio for determining the aircraft position line.

The results of experimental studies of the characteristics of the horizontal reception of radar emissions on sea-air routes at different altitudes of the aircraft confirmed the possibility of passive reconnaissance of radar from shipborne radar of a potential enemy at ranges exceeding the radio horizon by 50-100 km or more.

Mathematical modeling of the task of determining the target’s MP in the coordinate system of an aircraft in polar regions, analysis of accuracy characteristics showed the possibility of implementing the proposed device on an aircraft equipped with reconnaissance and navigation equipment.

The functional diagram of the proposed device for determining the target MP in the coordinate system of the aircraft is presented in figure 1. As can be seen from figure 1, the device includes:

- radar station 1 (radar);

- Shaper true bearing 2 (FIP);

- coordinate converter 3 (PRK);

- Long-range reconnaissance and precision direction finding station 4 (SDRTP);

- memory device 5 (UP);

- integrated navigation and flight astroinertial system 6 (KNPAIS);

- signal amplitude analyzer 7 (AAS);

- interpolation device 8 (MD);

- azimuth calculator 9 (AB);

- a device for optimizing the direction finding mode of astroorients 10 (RBM).

линейных С.К.О. определения линий положения ЛА при значении φ_ла=82°, построенных по результатам моделирования задачи МО цели в системе координат ЛА при значении m=0,134; 0,387; 0,5; 0,75; 1,12, 1,59; 2,0; 3,63; 7,45.Figure 2 presents graphs of 11 normalized accuracy characteristics, representing the relationship of the ratio to (k - ordinate) of the radial (linear) root mean square error (S.K.O.) of determining the target MP (σ _rc ) to the radial _standard deviation of determining the MP of the aircraft (σ _rla ) depending on the value of the true bearing P _source. (P _source. - abscissa axis, one division is equal to 30 °), the ratio m $$(m=\frac{{\sigma }_{\lambda l\mathrm{but}}}{{\sigma }_{\varphi l\mathrm{but}}})$$

linear S.K.O. determination of the aircraft position lines at a value of φ _la = 82 °, constructed according to the results of modeling the target’s MO problem in the aircraft coordinate system at a value of m = 0.134; 0.387; 0.5; 0.75; 1.12, 1.59; 2.0; 3.63; 7.45.

Figure 3 presents graphs of the dependence m = f (A ₁ ) - the ratio of m (ordinate axis) as a function of the azimuth of the first astro-landmark (abscissa axis) with a difference of azimuths (ΔA) of two landmarks: 12-ΔA = 90 °; 13-ΔA = 60 °; 14-ΔA = 45 °; 15-ΔA = 30 °.

Figure 4 presents graphs of the dependence of the boundary values of the ratio m (m is the ordinate axis) as a function of the azimuth difference ΔA of the orientations (ΔA is the abscissa axis, one division is 15 °) - the first quadrant. These graphs are defined for an astronavigation system using astro-orientators of a horizontal coordinate system. In this case, curve 16 corresponds to the maximum values of m, and curve 17 to the minimum values. The same figure (fourth quadrant) shows a plot of the dependence of the relation n (n is the ordinate axis) of the radial S.K.O. MO LA with the selected difference in azimuths of astronomical points and ΔA = 90 ° as a function of ΔA.

Device 1 is a measuring device for the polar coordinates of a surface target in an active way in a selected sector of direction-finding angles and is a radar for detecting surface targets and determining their coordinates. The inputs of device 1 are connected to the outputs of devices 4 and 7, and its outputs are connected to the inputs of devices 2 and 3.

The apparatus 2 is builder angle meaningfully aircraft true heading (ν _la) and the target yaw rate (KU) and is an adder of two angles.

The inputs of device 2 are connected to the outputs of devices 1, 4, 6, and its outputs are connected to the inputs of devices 3, 5.

The device 3 is a calculator of the location of the target in the coordinate system of the aircraft, implementing equations (a), (c), (g). The inputs of device 3 are connected to the outputs of devices 1, 2, 6, and its output is connected to information consumers directly or via a communication line.

The device 4 is a measuring device for the radiation efficiency of radars from a surface target to passive methods and is a passive station for the far-horizon detection of shipborne radar radiations and their accurate direction finding. The device 4 includes schemes for receiving radiation, determining the exact values of the KU emitting radar, for example, in a phase manner, as well as schemes for determining the parameters of each received radiation - carrier frequency (f _n ), pulse duration (τ _and ), frequency deviation in each received pulse (Δf ) and the conversion of both the specified parameters and the signal amplitude into a binary code.

The outputs of device 4 are connected to the inputs of devices 1, 2, and 7.

Device 5 is a device for storing normalized accuracy characteristics similar to FIG. 2 for various aircraft latitude values in increments of, for example, 2 °, starting from an aircraft latitude of 66 °, with m ratios of, for example, 0.134, 0.387; 0.5; 0.75; 1.12; 1.59; 2.0; 3.69; 7.45 or those close to them. These graphs are stored in the memory in the form of a set of constants corresponding to bearing values from 0 ° to 360 ° in increments of, for example, 3 °. Similarly, device 5 stores the graph values of FIG. 4. The device 5 includes a storage circuit and a sampling control circuit. In fact, the device 5 is a cubic matrix with coordinates k, n, m, the selection of constants from which carries out a control circuit of the device 5, depending on the value of the latitude of the aircraft. The inputs of device 5 are connected to the outputs of devices 2, 6, 9, 10, and its output to the input of devices 8.

Device 6 is a navigation and flight control system for determining its own location and accurate true course guidance of an aircraft and is a complex of astro-gyro-inertial navigation devices. The device provides selection and auto-tracking of selected astro landmarks, which provides a continuous indication of the longitude and latitude of the aircraft. At the same time, automatic star selection is provided.

The astronautical channel, built, for example, based on the use of astro-orientators of the horizontal coordinate system, provides continuous and accurate control of the gyro-inertia channel during normal operation, as well as the redistribution of errors in determining the latitude and longitude of aircraft depending on the azimuths of astro-orientations. The gyro-inertia channel provides continuous navigation and orientation during breaks in the operation of the astronavigation channel. The input of device 6 is connected to the outputs of devices 7, 9, and its outputs are connected to the inputs of devices 2, 3, 5, 7, 9.

The device 7 is a device for analyzing the amplitude, radio parameters (f _n , τ _and , Δf, T _rep. ) And KU of the signals coming from the device 4, for compliance with those received earlier, according to the admission principle and includes a memory circuit, determination circuits period of emissions and review, averaging scheme KU, as well as a pattern of formation of signs: "horizon reception", "work on the line of the radio horizon." In this case, the device implements the criterion:

- при загоризонтном приеме; $$\mathrm{0,5}÷1\frac{дБ}{км}$$

- на горизонте;- the increase in signal level during the passage of the aircraft path towards the target is approximately $$0.1\frac{dB}{\mathrm{to}m}$$

- with over-the-horizon reception; $$0.5÷\mathrm{one}\frac{dB}{\mathrm{to}m}$$

- on the horizon;

- when the aircraft is located beyond the line of the radio horizon, the detection of the radiating surface radar is carried out on the main lobe, and when reaching the horizon - on the main and side lobes.

The inputs of device 7 are connected to the outputs of devices 4 and 6, and its outputs are connected to the inputs of devices 1, 6.

The device 8 is an interpolator for determining the actual value of the ratio K depending on P _c , φ _la , m from the intermediate values of the constants K, stitched in the memory of the device 5 for fixed values of P _c , m, φ _la , and is a specialized calculator.

The input of the device 8 is connected to the output of the device 5, and its outputs are connected to the inputs of the devices 9 and 10.

The device 9 is a calculator of the ratio of m, azimuths of landmarks depending on the method of navigation of device 6. In the case, for example, if the algorithm is implemented MO MO for measuring the heights of two landmarks, device 9 implements the dependence

$$m=\frac{{\sigma }_{\lambda l\mathrm{but}}}{{\sigma }_{\varphi l\mathrm{but}}}=\sqrt{\frac{\mathrm{one}+\cos (A_2+A_{\mathrm{one}})\cdot \cos (A_2-A_{\mathrm{one}})}{\mathrm{one}-\cos (A_2+A_{\mathrm{one}})\cdot \cos (A_2-A_{\mathrm{one}})}}\left(d\right)$$

where A ₁ and A ₂ are the azimuth of astro-orientations.

The inputs of device 9 are connected to the outputs of devices 6, 8, 10, and its outputs are connected to the inputs of devices 5 and 6.

The device 10 is an analyzer of the accuracy of the target MO, depending on the values of φ _la , P _c , m. In the case, for example, when the device 6 implements a navigation method with measuring the heights of two landmarks, the device 10 searches for the minimum value of the product k × n = min. The input of the device 10 is connected to the output of the device 8, and its outputs are to the inputs of the devices 5, 9. All of the listed devices can be performed on typical nodes using discrete counting elements: logical circuits "AND", "OR", "NOT". Models and units of individual devices, in particular, are made using large integrated circuits such as VARDUVA.

The work of the proposed device is as follows.

Before the flight departs for the task, the device 5 remembers the graphs of the normalized accuracy characteristics in increments, for example, noted in the description of the device 5, as well as the graphs m = f (ΔA), n = f (ΔA).

When flying an aircraft along a given route, device 6 determines φ _la , λ _la , ν _{la by} measuring the heights of two landmarks located at arbitrary azimuths.

When the aircraft enters the target location area, device 1 searches, detects, and determines the coordinates of the targets — the range D _c and the course angle KU _c . The value of KU _c enters the device 2, where the value of the course ν _la enters from the device 6. The apparatus 2 generates information on said P _n value and outputs it to the device 3. Furthermore, the device 1 outputs the value 3 to the device D _i, and the device 6 and λ φ _{la la.} According to the specified information, device 3 implements dependencies (a), (c), (d), giving consumers information about the target position (φ _c and λ _c ) in the aircraft coordinate system. This solves the problem inherent in the prototype. The proposed device provides a solution to the problem as follows.

When flying aircraft in the polar regions G.S.K. device 6 generates φ _la , λ _la and ν _la according to reference points located at arbitrary azimuths, as well as a sign of the operation of the entire device. In parallel with the operation of device 6, device 4, when flying in the area of finding surface targets, detects radiation from shipborne radars, receives them, determines KU _c , radio engineering parameters, converts both the specified parameters and the signal amplitude into binary code, as well as the sign “horizontal reception”.

The value of KU _c then goes to device 2, and the codes of the radio engineering parameters and KU _c to device 7.

The current value of ν _la also enters the device 2, which generates P _c using information from passive means and provides it to the device 5. The device 6, determining its own MP, gives the value φ _la to the device 5, the azimuth values to the device 9 Landmarks A ₁ and A ₂ . The device 9 implements the dependence (d) and outputs the values of m to the device 5. Thus, the control circuit of the device 5 receives P _c , φ _la , m and ΔA corresponding to the position of the landmarks at arbitrary azimuths.

и $${\varphi }_{З{у}_2}<{\varphi }_{ла}$$

; $$m_{З{у}_1}>m$$

и $$m_{З{у}_2}<m$$

; $${П}_{З{у}_1}>{П}_{ц}$$

и $${П}_{З{у}_2}<{П}_{ц}$$

.The control circuit of the device 5 according to the specified information selects the values of the coefficient K from the memory circuit, the corresponding values $${\varphi }_{3{\mathrm{at}}_{\mathrm{one}}}>{\varphi }_{l\mathrm{but}}$$

and $${\mathrm{<figure-callout\; id="3"\; label="\phi "\; filenames="00000036.png,00000039.png"\; state="\{\{state\}\}">\varphi </figure-callout>}}_{3{\mathrm{at}}_2}<{\varphi }_{l\mathrm{but}}$$

; $${\mathrm{<figure-callout\; id="3"\; label="m"\; filenames="00000036.png,00000039.png"\; state="\{\{state\}\}">m</figure-callout>}}_{3{\mathrm{at}}_{\mathrm{one}}}>m$$

and $${\mathrm{<figure-callout\; id="3"\; label="m"\; filenames="00000036.png,00000039.png"\; state="\{\{state\}\}">m</figure-callout>}}_{3{\mathrm{at}}_2}<m$$

; $${\mathrm{<figure-callout\; id="3"\; label="P"\; filenames="00000036.png,00000039.png"\; state="\{\{state\}\}">P</figure-callout>}}_{3{\mathrm{at}}_{\mathrm{one}}}>P_c$$

and $${\mathrm{<figure-callout\; id="3"\; label="P"\; filenames="00000036.png,00000039.png"\; state="\{\{state\}\}">P</figure-callout>}}_{3{\mathrm{at}}_2}<P_c$$

.

(where 1 - the values are greater than the firmware in memory;

2 - values less than the firmware in memory).

Then the values of K with the corresponding features are supplied to the device 8, which interpolates the indicated values. Thus, K _pr is determined by arbitrarily selected landmarks. The value of K _pr then enters the device 10. Then, the control circuit of the device 5, from the ΔA value, selects the value n from the memory, which, through the device 8, goes to the device 10. The device 10, when the values of K _pr and n are received, switches them (K _pr × n ) and the result remembers. Writing the result to the comparison register of device 10 is a command that determines the further operation of devices 5, 6, 8, 9, 10.

When it is generated by the device 10 and received in the control circuit of the device 5, the signals of access to the memory circuit of the device 5 are generated by selecting the coefficients K, n, ΔA corresponding to the values m stitched in the memory, starting with m _max for the current value P _c and φ _la (point 19, figure 4). The values of the parameters K and n after interpolation go to device 10, and the parameters ΔA, m to device 9. The device 10 multiplies K × n for each sample, compares it with the value of K _pr × n and remembers the result of K × n, if the condition is met

K × n <K _ol × n.

The specified program is executed before determining K × n = min. Then, the device 10 generates and outputs to the device 9 a control signal for recording the values ΔA and m corresponding to K × n = min in its memory register. In the future, the device 9, realizing the dependence (e), performs the calculation of the function m = f (A ₁ ) at ΔA received from the device 8 (like one of the graphs of figure 3). In this case, the device 9 analyzes the calculated value of m according to the value determined by the product K × n = min.

(точка 20, фиг.3). При дальнейшем вычислении определяются азимуты $$A_1^{//}$$

, $$A_1^{///}$$

, $$A_1^{////}$$

. Затем устройство 9 вычисляет значение азимутов второго ориентира, реализуя зависимость $$A_2=A_1-\Delta A$$

: $$A_2^{/}$$

, $$A_2^{//}$$

, $$A_2^{///}$$

, $$A_2^{////}$$

. Указанные значения азимутов затем из устройства 9 поступают в устройство 6, которое осуществляет анализ нахождения ориентиров на соответствующих азимутах $$A_1^{/}$$

, $$A_1^{//}$$

, $$A_1^{///}$$

, $$A_1^{////}$$

и $$A_2^{/}$$

, $$A_2^{//}$$

, $$A_2^{///}$$

, $$A_2^{////}$$

, их выбор и пеленгование. Затем устройство 6 определяет собственные координаты и формирует сигнал управления, который поступает в устройство 7. Устройство 7 при его поступлении и формировании признака "загоризонтный прием" формирует сигнал управления и выдает в устройство 6 значение КУ. При его поступлении устройство 6 меняет режим полета ЛА, обеспечивая значение КУ=0. Одновременно устройство 4 принимает сигналы РЛС надводной цели, информация которых поступает в устройство 7. Устройство 7 анализирует сигналы и вырабатывает признак "загоризонтный прием". При выходе ЛА на радиогоризонт работы устройства 1 устройство 7 вырабатывает признак "работа на горизонте". Указанная команда одновременно со значением КУ, вырабатываемым устройством 4, поступают в устройство 1, определяя сектор работы активного измерителя и начало работы. В дальнейшем работа устройств 1, 2, 3, 6 соответствует работе прототипа. Выработанное таким образом местоположение цели в системе координат ЛА поступает непосредственно или посредством линии связи потребителям.When they match, the azimuth value is recorded in the memory register of device 9 $$A_{\mathrm{one}}^{/}$$

(point 20, figure 3). With further calculation, azimuths are determined $$A_{\mathrm{one}}^{//}$$

, $$A_{\mathrm{one}}^{///}$$

, $$A_{\mathrm{one}}^{////}$$

. Then, the device 9 calculates the azimuth value of the second landmark, realizing the dependence $$A_{}$$$${}_2=A_{\mathrm{one}}-\Delta A$$

: $$A_2^{/}$$

, $$A_2^{//}$$

, $$A_2^{///}$$

, $$A_2^{////}$$

. The indicated azimuth values are then transferred from device 9 to device 6, which analyzes the location of landmarks in the corresponding azimuths $$A_{\mathrm{one}}^{/}$$

, $$A_{\mathrm{one}}^{//}$$

, $$A_{\mathrm{one}}^{///}$$

, $$A_{\mathrm{one}}^{////}$$

and $${\mathrm{<figure-callout\; id="2"\; label="A"\; filenames="00000036.png"\; state="\{\{state\}\}">A</figure-callout>}}_2^{/}$$

, $$A_2^{//}$$

, $$A_2^{///}$$

, $$A_2^{////}$$

, their selection and direction finding. Then, the device 6 determines its own coordinates and generates a control signal, which enters the device 7. When it is received and the sign “over-the-horizon reception” is generated, the device 7 generates a control signal and outputs the value KU to the device 6. When it arrives, device 6 changes the flight mode of the aircraft, providing a value of KU = 0. At the same time, the device 4 receives the radar signals of the surface target, the information of which is supplied to the device 7. The device 7 analyzes the signals and generates the sign of "horizontal reception". When the aircraft reaches the radio horizon of the operation of the device 1, the device 7 produces the sign "work on the horizon." The specified command simultaneously with the value of the KU generated by the device 4, enter the device 1, determining the sector of the active meter and the beginning of work. In the future, the operation of devices 1, 2, 3, 6 corresponds to the work of the prototype. The target location thus developed in the coordinate system of the aircraft arrives directly or via a communication line to consumers.

Using the proposed device for determining the geographical coordinates of surface targets on aircraft in the polar regions provides compared with the known device advantages:

- increases the secrecy of determining the target’s MP, since the active polar coordinate meter is turned on in a narrow field of view with a limited radiation time;

- improves the accuracy of determining the target’s MP, achieved by optimizing the position of the ellipse of errors in determining its own location. Moreover, an increase in accuracy can be achieved about 1.5 times, depending on the navigation method. With the method of location indicated in the text, the increase is 25%.

Claims (1)

A device for determining the location of a target in the coordinate system of an aircraft, comprising a radar serially connected, a true bearing shaper and a coordinate transducer, wherein the second radar output is connected to the second input of the coordinate transducer, characterized in that, in order to improve the accuracy of covert target location, connected long-range reconnaissance and precision direction-finding station, amplitude analyzer, integrated navigation and flight astro inertial system, azimuth calculator, memory unit, interpolation unit and optimization block for the direction finding function of astronomical orientations, while the first output of the long-range reconnaissance and accurate direction-finding station is connected to the second input of the true bearing shaper, the second output is connected to the first input of the radar, the second input of which is connected to the second the output of the amplitude analyzer, the second input of which is connected to the second output of the integrated navigation and flight astroinertial system, the third output of which is connected to the coordinate generator, the fourth output is with the third input of the true bearing imager, the fifth output is with the second input of the memory block, and the second input is with the second output of the azimuth calculator, the second input of which is connected to the second output of the interpolation unit, and the third input is with the first output of the block optimizing the direction finding mode of astronomical points, the second output of which is connected to the fourth input of the memory block, the third input of which is connected to the second output of the true bearing shaper.

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